DE102018201030B4 - Magnetic dome element with magnetic bearing function - Google Patents
Magnetic dome element with magnetic bearing functionInfo
- Publication number
- DE102018201030B4 DE102018201030B4 DE102018201030.7A DE102018201030A DE102018201030B4 DE 102018201030 B4 DE102018201030 B4 DE 102018201030B4 DE 102018201030 A DE102018201030 A DE 102018201030A DE 102018201030 B4 DE102018201030 B4 DE 102018201030B4
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- magnet
- bearing
- output
- drive
- magnetic
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0231—Magnetic circuits with PM for power or force generation
- H01F7/0242—Magnetic drives, magnetic coupling devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/40—Details relating to driving
- A61M60/403—Details relating to driving for non-positive displacement blood pumps
- A61M60/419—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being permanent magnetic, e.g. from a rotating magnetic coupling between driving and driven magnets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D13/00—Pumping installations or systems
- F04D13/02—Units comprising pumps and their driving means
- F04D13/021—Units comprising pumps and their driving means containing a coupling
- F04D13/024—Units comprising pumps and their driving means containing a coupling a magnetic coupling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/0408—Passive magnetic bearings
- F16C32/0423—Passive magnetic bearings with permanent magnets on both parts repelling each other
- F16C32/0425—Passive magnetic bearings with permanent magnets on both parts repelling each other for radial load mainly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/047—Details of housings; Mounting of active magnetic bearings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/108—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with an axial air gap
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Cardiology (AREA)
- Electromagnetism (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
Abstract
Magnetkuppelelement (100) mit magnetischer Lagerungsfunktion, wobei das Magnetkuppelelement (100) folgende Merkmale aufweist:
- ein an einer Antriebswelle (106) angeordneter antriebsseitiger Kupplungsmagnet (109);
- ein an einer Abtriebswelle (112) angeordneter abtriebsseitiger Kupplungsmagnet (115), wobei der abtriebsseitiger Kupplungsmagnet (115) magnetisch mit dem antriebsseitigen Kupplungsmagneten (109) gekoppelt ist; und
- ein Lagermagnetring (118), der gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten (109, 115) drehfest angeordnet ist, wobei zumindest ein Lagermagnet-Teilbereich (133, 136) des Lagermagnetrings (118) eine gleiche Polarität aufweist, wie ein dem Lagermagnet-Teilbereich (133, 136) gegenüberliegender Kupplungsmagneten-Teilbereich (127, 130).
Magnetic coupling element (100) with a magnetic bearing function, the magnetic coupling element (100) having the following features:
- a drive-side clutch magnet (109) arranged on a drive shaft (106);
- an output-side clutch magnet (115) arranged on an output shaft (112), wherein the output-side clutch magnet (115) is magnetically coupled to the input-side clutch magnet (109); and
- a bearing magnet ring (118) which is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet (109, 115), wherein at least one bearing magnet sub-region (133, 136) of the bearing magnet ring (118) has the same polarity as a clutch magnet sub-region (127, 130) opposite the bearing magnet sub-region (133, 136).
Description
Stand der TechnikState of the art
Die Erfindung geht von einem Magnetkuppelelement mit magnetischer Lagerungsfunktion und einem oder einem Verfahren zur Herstellung eines Magnetkuppelelementes mit magnetischer Lagerungsfunktion nach Gattung der unabhängigen Ansprüche aus. Gegenstand der vorliegenden Erfindung ist auch ein Computerprogramm.The invention is based on a magnetic coupling element with a magnetic bearing function and a method for producing a magnetic coupling element with a magnetic bearing function according to the preamble of the independent claims. The present invention also relates to a computer program.
Es können Magnetkuppelelemente verwendet werden, bei denen sich gegenliegende Magnetpaare genutzt werden, um Drehmomente berührungslos zu übertragen. Ferner können auch Umleitelemente verwendet werden, um einen magnetischen Fluss zu führen und damit das übertragbare Drehmoment zu steigern und die Effizienz des Kuppelelements zu erhöhen.Magnetic coupling elements can be used, which utilize opposing pairs of magnets to transmit torque without contact. Furthermore, diverting elements can be used to guide a magnetic flux, thus increasing the transmittable torque and enhancing the efficiency of the coupling element.
In der
Aus der
Offenbarung der ErfindungDisclosure of the invention
Vor diesem Hintergrund werden mit dem hier vorgestellten Ansatz ein Magnetkuppelelement mit magnetischer Lagerungsfunktion, weiterhin ein Verfahren zum Herstellen eines Magnetkuppelelements mit magnetischer Lagerungsfunktion, eine Vorrichtung, die dieses Verfahren verwendet, sowie schließlich ein entsprechendes Computerprogramm gemäß den Hauptansprüchen vorgestellt. Durch die in den abhängigen Ansprüchen aufgeführten Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen der im unabhängigen Anspruch angegebenen Vorrichtung möglich.Against this background, the approach presented here presents a magnetic coupling element with a magnetic bearing function, a method for producing a magnetic coupling element with a magnetic bearing function, a device using this method, and finally a corresponding computer program according to the main claims. The measures listed in the dependent claims enable advantageous refinements and improvements of the device specified in the independent claim.
Durch einen zusätzlichen Lagermagnetring, der innerhalb eines Magnetkuppelelements versetzt zu den Kupplungsmagneten angeordnet ist, kann eine Lagerungsfunktion beispielsweise auch in radialer Richtung bewerkstelligt werden.By means of an additional bearing magnet ring, which is arranged offset to the coupling magnets within a magnetic coupling element, a bearing function can also be achieved in the radial direction, for example.
Es wird ein Magnetkuppelelement mit magnetischer Lagerungsfunktion vorgestellt, wobei das Magnetkuppelelement die folgenden Merkmale umfasst:
- - ein an einer Antriebswelle angeordneten antriebsseitigen Kupplungsmagnet;
- - ein an einer Abtriebswelle angeordneter abtriebsseitiger Kupplungsmagnet, wobei der abtriebsseitige Kupplungsmagnet magnetisch mit dem antriebsseitigen Kupplungsmagneten gekoppelt ist; und
- - ein Lagermagnetring, der gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten drehfest angeordnet ist, wobei zumindest ein Lagermagnet-Teilbereich des Lagermagnetrings eine gleiche Polarität aufweist, wie ein dem Lagermagnet-Teilbereich gegenüberliegender Kupplungsmagneten-Teilbereich.
- - a drive-side clutch magnet arranged on a drive shaft;
- - an output-side clutch magnet arranged on an output shaft, wherein the output-side clutch magnet is magnetically coupled to the input-side clutch magnet; and
- - a bearing magnet ring which is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet, wherein at least one bearing magnet sub-region of the bearing magnet ring has the same polarity as a clutch magnet sub-region opposite the bearing magnet sub-region.
Bei einer Antriebswelle kann es sich um ein stabförmiges Maschinenelement handeln, das zum Weiterleiten von Drehbewegungen und Drehmomenten sowie zur Lagerung von rotierenden Teilen verwendet wird. Bei einem Kupplungsmagneten kann es sich um eine Art Kuppelelement handeln, dessen Drehmoment-Übertragungsfunktion auf der Wirkung eines Magnetfeldes bzw. eines gekoppelten beruht. Bei einer Abtriebswelle kann es sich um ein Maschinenelement handeln, an welchem die über den Getriebemechanismus eingeleitete Leistung an dessen Wellenende in Form der Maschinenleistung abgegriffen werden kann. Bei einem Lagermagnetring kann es sich um einen zumindest teilweise ringförmig ausgeformten Magneten handeln, der eine Lagerung ohne Materialkontakt durch magnetische Kräfte ermöglicht. Insgesamt ist anzumerken, dass bei dem hier vorgestellten Ansatz günstigerweise Permanentmagneten als Magneten verwendet werden.A drive shaft can be a rod-shaped machine element used to transmit rotary motion and torque, as well as to support rotating parts. A clutch magnet can be a type of coupling element whose torque transmission function is based on the effect of a magnetic field or a coupled magnetic field. An output shaft can be a machine element at which the power introduced via the gear mechanism can be tapped at its shaft end in the form of machine power. A bearing magnet ring can be a magnet that is at least partially ring-shaped and enables bearing support without material contact through magnetic forces. Overall, it should be noted that the approach presented here advantageously uses permanent magnets as magnets.
Gemäß einer Ausführungsform können der Lagermagnetring und der antriebsseitige oder abtriebsseitige Kupplungsmagnet Magnetpole aufweisen, die sich in axialer Richtung anziehen und sich in radialer Richtung abstoßend gegenüber stehen. Hierbei kann sich eine deutliche Reduzierung der Reibverluste ergeben, wobei Verbesserungen hinsichtlich Effizienz, Wärmeentwicklung und Verschleiß erzielt werden können.According to one embodiment, the bearing magnet ring and the drive-side or output-side clutch magnet can have magnetic poles that attract each other in the axial direction and repel each other in the radial direction. This can result in a significant reduction in friction losses, while improving efficiency, heat generation, and wear.
Gemäß einer Ausführungsform können der antriebsseitige und der abtriebsseitige Kupplungsmagnet je zumindest Kupplungsmagneten-Teilbereiche mit unterschiedlicher Polarität aufweisen, insbesondere wobei die zwei Kupplungsmagneten-Teilbereiche in axialer Richtung angeordnet oder ausgerichtet sind. Dies kann eine verbesserte Mitnahmewirkung durch eine Optimierung bzw. Ausrichtung der Magnetflusslinien im Magnetkuppelelement zur Folge haben.According to one embodiment, the drive-side and output-side clutch magnets can each have at least clutch magnet sub-regions with different polarities, in particular, wherein the two clutch magnet sub-regions are arranged or aligned in the axial direction. This can result in an improved entrainment effect through an optimization or alignment of the magnetic flux lines in the magnetic coupling element.
Gemäß einer Ausführungsform kann der Lagermagnetring zumindest zwei Lagermagnetring- Teilbereiche unterschiedlicher Polarität umfassen, insbesondere wobei die zwei Lagermagnetring-Teilbereiche in axialer Richtung nebeneinander angeordnet sind. Hierbei kann ein solcher Aufbau von axial benachbarten und spiegelbildlich angeordneten Lagermagnetring-Teilbereichen kostengünstiger und einfacher hergestellt werden und/oder eine verbesserte Lagerungsfunktion.According to one embodiment, the bearing magnet ring can comprise at least two bearing magnet ring sections of different polarity, in particular wherein the two bearing magnet ring sections are arranged next to one another in the axial direction. Such a structure of axially adjacent and mirror-imaged bearing magnet ring sections can be manufactured more cost-effectively and easily and/or provides an improved bearing function.
Gemäß einer Ausführungsform kann der Lagermagnetring zumindest einen Teilbereich des antriebsseitigen oder abtriebsseitigen Kupplungsmagneten umgeben. Hierbei kann zwischen dem Lagermagnetring und dem im Abstand davon gegenüberliegenden antriebsseitigen oder abtriebsseitigen Kupplungsmagneten eine vergleichsweise große Abstoßkraft und somit eine stabile Lagerungsfunktion erzielt werden.According to one embodiment, the bearing magnet ring can surround at least a portion of the drive-side or output-side clutch magnet. This allows a comparatively large repulsion force to be achieved between the bearing magnet ring and the spaced-apart, opposite, drive-side or output-side clutch magnet, thus ensuring a stable bearing function.
Gemäß einer Ausführungsform kann der Lagermagnetring-Teilbereich einen Winkelversatz zu dem gegenüberliegenden Kupplungsmagneten-Teilbereich des antriebsseiteigen oder abtriebsseitigen Kupplungsmagneten aufweisen. Hierbei kann der Winkelversatz dazu dienen, die bei anliegendem Drehmoment gegeneinander entstehende Verdrehung der beiden Wellen bei der Lagerung zu kompensieren.According to one embodiment, the bearing magnet ring section can have an angular offset from the opposite clutch magnet section of the drive-side or output-side clutch magnet. The angular offset can serve to compensate for the relative rotation of the two shafts during bearing support when torque is applied.
Gemäß einer Ausführungsform kann der Lagermagnetring radial von dem antriebsseiteigen oder abtriebsseitigen Kupplungsmagneten umgeben sein. Hierbei können die radial vom dem antriebsseiteigen oder abtriebsseitigen Kupplungsmagneten ausgehenden Magnetfelder gebündelt und die magnetische Kraft zwischen den einzelnen Teilen des Magnetkuppelelements verstärkt werden.According to one embodiment, the bearing magnet ring can be radially surrounded by the drive-side or output-side coupling magnet. In this case, the magnetic fields emanating radially from the drive-side or output-side coupling magnet can be concentrated, and the magnetic force between the individual parts of the magnetic coupling element can be amplified.
Gemäß einer Ausführungsform kann der Lagermagnetring von dem antriebsseiteigen oder abtriebsseitigen Kupplungsmagneten durch einen rohrförmigen Teilbereich eines Gehäuseelementes getrennt ist. Hierbei kann eine Medientrennung erfolgen, speziell, wenn das Magnetkuppelelement in fluidumströmten Bereichen eingesetzt werden soll.According to one embodiment, the bearing magnet ring can be separated from the drive-side or output-side coupling magnet by a tubular portion of a housing element. This allows for media separation, especially if the magnetic coupling element is to be used in areas with fluid flow.
Gemäß einer Ausführungsform kann das Gehäuseelement aus einem nicht-magnetischen Metall oder Material gefertigt und/oder nicht-drehend oder nicht-drehbar ausgeformt sein. Mit einem solchen Gehäuseelement können Verluste aufgrund einer Ummagnetisierung des Gehäuseelements vermieden werden.According to one embodiment, the housing element can be made of a non-magnetic metal or material and/or be non-rotatable or non-rotatable. Such a housing element can prevent losses due to remagnetization of the housing element.
Es wird ferner ein Verfahren zum Herstellen eines Magnetkuppelelements mit magnetischer Lagerungsfunktion vorgestellt, wobei das Verfahren die folgenden Schritte umfasst:
- Bereitstellen des an einer Antriebswelle angeordneten antriebsseitigen Kupplungsmagneten, des an einer Abtriebswelle angeordneten abtriebsseitigen Kupplungsmagneten, sowie des Lagermagnetrings; und
- Montieren des an der Antriebswelle angeordneten antriebsseitigen Kupplungsmagneten, des an einer Abtriebswelle angeordneten abtriebsseitigen Kupplungsmagneten sowie des Lagermagnetrings derart, dass der abtriebsseitige Kupplungsmagnet magnetisch mit dem antriebsseitigen Kupplungsmagneten gekoppelt wird sowie der Lagermagnetring gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten drehfest angeordnet wird, wobei zumindest ein Lagermagnet-Teilbereich des Lagermagnetrings eine gleiche Polarität aufweist, wie ein dem Lagermagnet-Teilbereich gegenüberliegender Kupplungsmagneten-Teilbereich, um ein Magnetkuppelelement mit magnetischer Lagerungsfunktion herzustellen.
- Providing the drive-side clutch magnet arranged on a drive shaft, the output-side clutch magnet arranged on an output shaft, and the bearing magnet ring; and
- Mounting the drive-side clutch magnet arranged on the drive shaft, the output-side clutch magnet arranged on an output shaft and the bearing magnet ring in such a way that the output-side clutch magnet is magnetically coupled to the drive-side clutch magnet and the bearing magnet ring is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet, wherein at least one bearing magnet portion of the bearing magnet ring has the same polarity as a clutch magnet portion opposite the bearing magnet portion in order to produce a magnetic coupling element with a magnetic bearing function.
Dieses Verfahren kann beispielsweise in Software oder Hardware oder in einer Mischform aus Software und Hardware beispielsweise in einem Steuergerät implementiert sein.This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
Der hier vorgestellte Ansatz schafft ferner eine Vorrichtung, die ausgebildet ist, um die Schritte einer Variante eines hier vorgestellten Verfahrens in entsprechenden Einrichtungen durchzuführen, anzusteuern bzw. umzusetzen. Auch durch diese Ausführungsvariante der Erfindung in Form einer Vorrichtung kann die der Erfindung zugrunde liegende Aufgabe schnell und effizient gelöst werden.The approach presented here further provides a device designed to perform, control, or implement the steps of a variant of a method presented here in corresponding devices. This embodiment of the invention in the form of a device also allows the problem underlying the invention to be solved quickly and efficiently.
Hierzu kann die Vorrichtung zumindest eine Recheneinheit zum Verarbeiten von Signalen oder Daten, zumindest eine Speichereinheit zum Speichern von Signalen oder Daten, zumindest eine Schnittstelle zu einem Sensor oder einem Aktor zum Einlesen von Sensorsignalen von dem Sensor oder zum Ausgeben von Daten- oder Steuersignalen an den Aktor und/oder zumindest eine Kommunikationsschnittstelle zum Einlesen oder Ausgeben von Daten aufweisen, die in ein Kommunikationsprotokoll eingebettet sind. Die Recheneinheit kann beispielsweise ein Signalprozessor, ein Mikrocontroller oder dergleichen sein, wobei die Speichereinheit ein Flash-Speicher, ein EEPROM oder eine magnetische Speichereinheit sein kann. Die Kommunikationsschnittstelle kann ausgebildet sein, um Daten drahtlos und/oder leitungsgebunden einzulesen oder auszugeben, wobei eine Kommunikationsschnittstelle, die leitungsgebundene Daten einlesen oder ausgeben kann, diese Daten beispielsweise elektrisch oder optisch aus einer entsprechenden Datenübertragungsleitung einlesen oder in eine entsprechende Datenübertragungsleitung ausgeben kann.For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading in sensor signals from the sensor or for outputting data or control signals to the actuator and/or at least one communication interface for reading in or outputting data embedded in a communication protocol. The computing unit can, for example, The communication interface can be a signal processor, a microcontroller, or the like, wherein the memory unit can be a flash memory, an EEPROM, or a magnetic memory unit. The communication interface can be configured to read in or output data wirelessly and/or via a wired connection. A communication interface that can read in or output wired data can, for example, read this data electrically or optically from a corresponding data transmission line or output it to a corresponding data transmission line.
Unter einer Vorrichtung kann vorliegend ein elektrisches Gerät verstanden werden, das Sensorsignale verarbeitet und in Abhängigkeit davon Steuer- und/oder Datensignale ausgibt. Die Vorrichtung kann eine Schnittstelle aufweisen, die hard- und/oder softwaremäßig ausgebildet sein kann. Bei einer hardwaremäßigen Ausbildung können die Schnittstellen beispielsweise Teil eines sogenannten System-ASICs sein, der verschiedenste Funktionen der Vorrichtung beinhaltet. Es ist jedoch auch möglich, dass die Schnittstellen eigene, integrierte Schaltkreise sind oder zumindest teilweise aus diskreten Bauelementen bestehen. Bei einer softwaremäßigen Ausbildung können die Schnittstellen Softwaremodule sein, die beispielsweise auf einem Mikrocontroller neben anderen Softwaremodulen vorhanden sind.In this case, a device can be understood as an electrical device that processes sensor signals and outputs control and/or data signals depending on them. The device can have an interface, which can be implemented in hardware and/or software. In a hardware implementation, the interfaces can, for example, be part of a so-called system ASIC, which contains a wide variety of functions of the device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In a software implementation, the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.
Von Vorteil ist auch ein Computerprogrammprodukt oder Computerprogramm mit Programmcode, der auf einem maschinenlesbaren Träger oder Speichermedium wie einem Halbleiterspeicher, einem Festplattenspeicher oder einem optischen Speicher gespeichert sein kann und zur Durchführung, Umsetzung und/oder Ansteuerung der Schritte des Verfahrens nach einer der vorstehend beschriebenen Ausführungsformen verwendet wird, insbesondere wenn das Programmprodukt oder Programm auf einem Computer oder einer Vorrichtung ausgeführt wird.Also advantageous is a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out, implement and/or control the steps of the method according to one of the embodiments described above, in particular when the program product or program is executed on a computer or a device.
Ausführungsbeispiele des hier vorgestellten Ansatzes sind in den Zeichnungen dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigt:
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1 eine schematische Querschnittsansicht eines Magnetkuppelelements mit magnetischer Lagerungsfunktion gemäß einem Ausführungsbeispiel; -
2 eine schematische Querschnittsansicht einer Variante eines Magnetkuppelelements mit magnetischer Lagerungsfunktion gemäß einem Ausführungsbeispiel; -
3 eine schematische Querschnittsansicht einer Variante eines Magnetkuppelelements mit magnetischer Lagerungsfunktion gemäß einem Ausführungsbeispiel; -
4 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Herstellen eines Magnetkuppelelements mit magnetischer Lagerfunktion gemäß einem Ausführungsbeispiel; und -
5 ein Blockschaltbild einer Vorrichtung zum Ausführen eines Verfahrens zum Herstellen eines Magnetkuppelelements mit magnetischer Lagerfunktion gemäß einem Ausführungsbeispiel.
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1 a schematic cross-sectional view of a magnetic coupling element with a magnetic bearing function according to an embodiment; -
2 a schematic cross-sectional view of a variant of a magnetic coupling element with a magnetic bearing function according to an embodiment; -
3 a schematic cross-sectional view of a variant of a magnetic coupling element with a magnetic bearing function according to an embodiment; -
4 a flowchart of an embodiment of a method for producing a magnetic coupling element with a magnetic bearing function according to an embodiment; and -
5 a block diagram of an apparatus for carrying out a method for producing a magnetic coupling element with a magnetic bearing function according to an embodiment.
In der nachfolgenden Beschreibung günstiger Ausführungsbeispiele der vorliegenden Erfindung werden für die in den verschiedenen Figuren dargestellten und ähnlich wirkenden Elemente gleiche oder ähnliche Bezugszeichen verwendet, wobei auf eine wiederholte Beschreibung dieser Elemente verzichtet wird.In the following description of advantageous embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and having a similar effect, whereby a repeated description of these elements is omitted.
Das Magnetkuppelelement 100 umfasst ein Gehäuseelement 103, ein an einer Antriebswelle 106 angeordneten antriebsseitigen Kupplungsmagnet 109, einen an einer Abtriebswelle 112 angeordneten abtriebsseitigen Kupplungsmagnet 115 sowie einen Lagermagnetring 118. Die unterschiedlichen Pole der Kupplungsmagneten 109 und 115 sowie des Lagermagnetrings 118 sind mit unterschiedlichen Farben gekennzeichnet, wobei der Nordpol mit einem „N“ und der Südpol mit einem „S“ dargestellt ist.The magnetic coupling element 100 comprises a housing element 103, a drive-side clutch magnet 109 arranged on a drive shaft 106, an output-side clutch magnet 115 arranged on an output shaft 112, and a bearing magnet ring 118. The different poles of the clutch magnets 109 and 115 as well as of the bearing magnet ring 118 are marked with different colors, with the north pole being represented by an "N" and the south pole by an "S."
Der abtriebsseitige Kupplungsmagnet 115 ist magnetisch mit dem antriebsseitigen Kupplungsmagneten 109 gekoppelt. Der antriebsseitige und abtriebsseitige Kupplungsmagnet 109 und 115 weisen je zumindest Kupplungsmagnet-Teilbereiche 121, 124, 127, 130 mit unterschiedlicher Polung auf, wobei die Kupplungsmagnet-Teilbereiche 121, 124, 127, 130 insbesondere in axialer Richtung angeordnet sind. Der Lagermagnetring 118 umfasst ebenso zumindest zwei Lagermagnetring-Teilbereiche 133, 136 unterschiedlicher Polung, wobei auch die zwei Lagermagnetring-Teilbereiche 133 und 136 insbesondere in axialer Richtung angeordnet sind. Der Lagermagnetring 118 umgibt zumindest einen Teilbereich 127 und 130 des antriebsseitigen Kupplungsmagneten 109. Der Lagermagnetring 118 ist gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten 109 und 115 drehfest angeordnet, wobei je ein Lagermagnet-Teilbereich 133 und 136 des Lagermagnetrings 118 eine gleiche Polung oder Polarität aufweisen, wie ein dem Lagermagnet-Teilbereich 133 und 136 gegenüberliegende Kupplungsmagneten-Teilbereich 127 und 130. Der Lagermagnetring 118 und der antriebsseitige Kupplungsmagnet 109 weisen Magnetpole auf, die sich in axialer Richtung anziehen und in radialer Richtung abstoßend gegenüberstehen.The output-side clutch magnet 115 is magnetically coupled to the drive-side clutch magnet 109. The drive-side and output-side clutch magnets 109 and 115 each have at least clutch magnet subregions 121, 124, 127, 130 with different polarities, wherein the clutch magnet subregions 121, 124, 127, 130 are arranged in particular in the axial direction. The bearing magnet ring 118 also comprises at least two bearing magnet ring subregions 133, 136 with different polarities, wherein the two bearing magnet ring subregions 133 and 136 are also arranged in particular in the axial direction. The bearing magnet ring 118 surrounds at least a partial area 127 and 130 of the drive-side clutch magnet 109. The bearing magnet ring 118 is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet 109 and 115, wherein a bearing magnet partial area 133 and 136 of the bearing magnet ring 118 each have the same polarity as a bearing magnet sub-area 133 and 136 opposite clutch magnet sub-area 127 and 130. The bearing magnet ring 118 and the drive-side clutch magnet 109 have magnetic poles that attract each other in the axial direction and repel each other in the radial direction.
Die Antriebswelle 106, bei der es sich gemäß einem Ausführungsbeispiel um eine Motorwelle handelt, und die Abtriebswelle 112 tragen je magnetische Dipole, womit sich ein vorzugsweise achsparalleler magnetischer Fluss ergibt. Da sich unterschiedliche Pole anziehen, wird bei sich drehender Antriebswelle 106 die Abtriebswelle 112 in Rotationsrichtung mitgenommen. Die dabei auftretende Axialkraft wird mit einem hier nicht dargestellten Axiallager abgefangen. Auch magnetische Rückschlussscheiben sind in der
Um eine Radiallagerfunktion darzustellen, wird der Lagermagnetring 118 drehfest derart mit einem der Kupplungsmagneten, wobei es sich gemäß einem Ausführungsbeispiel um den antriebsseitigen Kupplungsmagneten 109 handelt, verbunden, sodass sich radial abstoßende Pole gegenüberstehen. Somit zentriert sich der Lagermagnetring 118 zum antriebsseitigen Kupplungsmagneten 109. Wenn diese Lagerung achsparallel verlängert wird, kann mit dieser Anordnung die komplette Radiallagerung einer Welle übernommen werden. Bei der Auslegung ist darauf zu achten, dass die Kupplungsmagnete 109 und 115 gegenüber den Lagermagnetring 118 deutlich stärker ausgelegt sind, um die Drehmomentübertragung zu gewährleisten. So kann sichergestellt werden, dass die abstoßenden bzw. anziehenden Kräfte der Kupplungsmagneten 109 und 115 nicht in der Lage sind, eine Verdrehung des Lagermagnetrings 118 auf der Welle zu denen im Gehäuseelement 103 zu erzeugen, was zu einer anziehenden Kraft zwischen den Lagerungsmagneten führen würde. Die Kupplungsmagnete 109 und 115 sowie der Lagermagnetring 118 können dabei grundsätzlich auch 2-, 4-, 6- usw. polig magnetisiert sein.To implement a radial bearing function, the bearing magnet ring 118 is connected in a rotationally fixed manner to one of the clutch magnets, which according to one embodiment is the drive-side clutch magnet 109, so that radially repulsive poles face each other. Thus, the bearing magnet ring 118 is centered relative to the drive-side clutch magnet 109. If this bearing is extended axially parallel, this arrangement can assume the complete radial bearing of a shaft. During design, care must be taken to ensure that the clutch magnets 109 and 115 are significantly stronger than the bearing magnet ring 118 in order to ensure torque transmission. This ensures that the repulsive or attractive forces of the clutch magnets 109 and 115 are not capable of generating a rotation of the bearing magnet ring 118 on the shaft relative to those in the housing element 103, which would lead to an attractive force between the bearing magnets. The clutch magnets 109 and 115 as well as the bearing magnet ring 118 can in principle also be magnetized with 2, 4, 6, etc. poles.
Das vorliegende Magnetkuppelelement 100 kann besonders vorteilhaft bei Antrieben aller Art, bei denen die Übertragung eines Drehmoments ohne Benutzung einer durch eine Dichtung abzudichtenden Welle erforderlich ist und gleichzeitig eine Radiallagerung des abtriebsseitigen Kupplungsmagneten 115 erforderlich ist. Dies ist beispielsweise bei Dosier- und Mikropumpen zum Antrieb von impellerförmigen Laufrädern der Fall. Ein besonderer Vorteil ist bei Antrieben geboten, bei denen antriebs- und abtriebsseitig eine Medientrennung angestrebt wird.The present magnetic coupling element 100 can be particularly advantageous in all types of drives where torque transmission is required without the use of a shaft sealed by a seal, and where a radial bearing for the output-side coupling magnet 115 is also required. This is the case, for example, in metering and micropumps for driving impeller-shaped impellers. A particular advantage is offered in drives where media separation is desired on the input and output sides.
Das Magnetkuppelelement 100 umfasst das Gehäuseelement 103, den an der Antriebswelle 106 angeordneten antriebsseitigen Kupplungsmagnet 109, den an der Abtriebswelle 112 angeordneten abtriebsseitigen Kupplungsmagnet 115 sowie den Lagermagnetring 118. Die unterschiedlichen Pole der Kupplungsmagneten 109 und 115 sowie des Lagermagnetrings 118 sind mit unterschiedlichen Farben gekennzeichnet, wobei der Nordpol hellgrau und der Südpol dunkelgrau dargestellt ist. Der abtriebsseitige Kupplungsmagnet 115 ist magnetisch mit dem antriebsseitigen Kupplungsmagneten 109 gekoppelt. Der Lagermagnetring 118 ist gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten 109 und 115 drehfest angeordnet, wobei der Lagermagnet-Teilbereich 133 und 136 des Lagermagnetrings 118 eine gleiche Polung aufweist, wie der dem Lagermagnet-Teilbereich 133 und 136 gegenüberliegende Kupplungsmagneten-Teilbereich 127 und 130. Ein Lagermagnetring-Teilbereich 201 weist einen Winkelversatz 203 auf.The magnetic coupling element 100 comprises the housing element 103, the drive-side clutch magnet 109 arranged on the drive shaft 106, the output-side clutch magnet 115 arranged on the output shaft 112, and the bearing magnet ring 118. The different poles of the clutch magnets 109 and 115, as well as the bearing magnet ring 118, are marked with different colors, with the north pole shown in light gray and the south pole in dark gray. The output-side clutch magnet 115 is magnetically coupled to the drive-side clutch magnet 109. The bearing magnet ring 118 is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnets 109 and 115, wherein the bearing magnet sub-regions 133 and 136 of the bearing magnet ring 118 have the same polarity as the clutch magnet sub-regions 127 and 130 opposite the bearing magnet sub-regions 133 and 136. A bearing magnet ring sub-region 201 has an angular offset 203.
Der Lagermagnetring-Teilbereich 136 weist den Winkelversatz 203 zu dem gegenüberliegenden Kupplungsmagneten-Teilbereich 130 des antriebsseitigen Kupplungsmagneten 109 auf. Um die bei anliegendem Drehmoment gegeneinander entstehende Verdrehung der beiden Wellen 106 und 112 und der Kupplungsmagnete 109 und 115 bei der Lagerung zu kompensieren, kann diese auch bei der winkelseitigen Zuordnung vorgehalten werden. Durch einen zusätzlichen Lagermagnetring 118, der winkelversetzt zu einem der Kupplungsmagneten 109 oder 115 angebracht wird, kann erreicht werden, dass sich neben den in axialer Richtung anziehenden Magnetpolen, welche die Kupplungsfunktion übernehmen, auch abstoßende Pole in radialer Richtung gegenüberstehen, welche damit die Lagerfunktion darstellen.The bearing magnet ring section 136 has an angular offset of 203 from the opposite clutch magnet section 130 of the drive-side clutch magnet 109. To compensate for the rotation of the two shafts 106 and 112 and the clutch magnets 109 and 115 that occurs when torque is applied, this can also be accommodated in the angular arrangement. An additional bearing magnet ring 118, which is mounted at an angular offset from one of the clutch magnets 109 or 115, can ensure that, in addition to the axially attractive magnetic poles that perform the clutch function, repulsive poles also face each other in the radial direction, thus fulfilling the bearing function.
Das Magnetkuppelelement 100 umfasst das Gehäuseelement 103, den an der Antriebswelle 106 angeordneten antriebsseitigen Kupplungsmagnet 109, den abtriebsseitigen Kupplungsmagnet 115 sowie einen Lagermagnetring 118. Die unterschiedlichen Pole der Kupplungsmagneten 109 und 115 sowie des Lagermagnetrings 118 sind mit unterschiedlichen Farben gekennzeichnet, wobei der Nordpol hellgrau und der Südpol dunkelgrau dargestellt ist. Der Lagermagnet-Teilbereich 133 und 136 des Lagermagnetrings 118 weist eine gleiche Polung bzw. Polarität auf, wie der dem Lagermagnet-Teilbereich 133 und 136 gegenüberliegende Kupplungsmagneten-Teilbereich 121 und 124.The magnetic coupling element 100 comprises the housing element 103, the drive-side coupling magnet arranged on the drive shaft 106 109, the output-side clutch magnet 115, and a bearing magnet ring 118. The different poles of the clutch magnets 109 and 115 and of the bearing magnet ring 118 are marked with different colors, with the north pole shown in light gray and the south pole in dark gray. The bearing magnet sections 133 and 136 of the bearing magnet ring 118 have the same polarity as the clutch magnet sections 121 and 124 opposite the bearing magnet sections 133 and 136.
Gemäß einem Ausführungsbeispiel ist der Lagermagnetring 118 radial von dem abtriebsseitigen Kupplungsmagneten 115 umgeben. Zwischen dem Lagermagnetring 118 und dem abtriebsseitigen Kupplungsmagneten 115 befindet sich ein rohrförmiger Teilbereich 303, beispielsweise ein dünnwandiger Hohlzylinder, des Gehäuseelements 103, der den Lagermagnetring 118 von dem abtriebsseitigen Kupplungsmagnet 115 trennt. Das Gehäuseelement 103 ist hierbei aus einem nicht-magnetischen Metall gefertigt und/oder nicht-drehend ausgeformt. Durch das Gehäuseelement 103 erfolgt eine Medientrennung, sodass, beispielsweise bei einem Pumpenantrieb, das zu pumpende Medium nicht in das Innere des Motors gelangen kann.According to one embodiment, the bearing magnet ring 118 is radially surrounded by the output-side clutch magnet 115. Between the bearing magnet ring 118 and the output-side clutch magnet 115 is a tubular portion 303, for example, a thin-walled hollow cylinder, of the housing element 103, which separates the bearing magnet ring 118 from the output-side clutch magnet 115. The housing element 103 is made of a non-magnetic metal and/or is formed to be non-rotating. The housing element 103 provides media separation so that, for example, in a pump drive, the medium to be pumped cannot penetrate into the interior of the motor.
Ganz allgemein kann ferner ausgeführt werden, dass die relative Stärke der Magneten zueinander, insbesondere die Relation zwischen zusätzlichen (Lager-) Magnetring und antriebs- und abtriebsseitigen (Kupplungs-) Magneten derart ausgelegt sind, dass, wie vorstehend beschrieben, bei axial gelagerter Welle die abstoßenden Kräfte des Lagermagnetfelds auch zu Drehmomenten und damit zur Schwächung der Kupplungsfunktion führen. Daher sollten die Kupplungsmagnete derart ausgelegt sein, dass deren bei Verdrehung entstehendes Drehmoment immer dominant ist. Die anziehenden bzw. abstoßenden Axialkräfte sowie auftretende Strömungskräfte (am Beispiel einer Pumpe) sollten weitgehend ausbalanciert bzw. durch das erwähnte Axiallager (z. B. Kugel- oder Gleitlager) abgefangen werden. Beispielhafte Abmessungen der einzelnen Magnetelemente können in der Größenordnung der gesamten Kupplung in der angedachten Anwendung bei Baulängen von 3 bis 5 mm und Durchmessern von ca. 6 mm liegen. EineMagnetstärke der Magnete, die hier zum Einsatz kommen können, können bei ca. 1,4 Tesla liegen und (temperaturahängig) Koerzitivfeldstärken von -1600 bis 0 kA/m aufweisen.In general, it can also be stated that the relative strength of the magnets to one another, in particular the relationship between the additional (bearing) magnetic ring and the drive and output-side (coupling) magnets, is designed in such a way that, as described above, with an axially mounted shaft, the repulsive forces of the bearing magnetic field also lead to torques and thus to a weakening of the coupling function. Therefore, the coupling magnets should be designed in such a way that the torque generated during rotation is always dominant. The attractive or repulsive axial forces as well as any flow forces that occur (using the example of a pump) should be largely balanced or absorbed by the aforementioned axial bearing (e.g. ball or plain bearing). Example dimensions of the individual magnetic elements can be on the order of magnitude of the entire coupling in the intended application, with overall lengths of 3 to 5 mm and diameters of approximately 6 mm. The magnets used here can have a magnetic strength of approximately 1.4 Tesla and (depending on temperature) coercive field strengths of -1600 to 0 kA/m.
In einem Schritt 403 werden der an einer Antriebswelle angeordnete antriebsseitige Kupplungsmagnet, der an einer Abtriebswelle angeordnete abtriebsseitige Kupplungsmagnet sowie der Lagermagnetring bereitgestellt. Schließlich werden in einem Schritt 406 der an einer Antriebswelle angeordnete antriebsseitige Kupplungsmagnet, der an einer Abtriebswelle angeordnete abtriebsseitige Kupplungsmagnet und des Lagermagnetrings derart montiert, dass der abtriebsseitiger Kupplungsmagnet magnetisch mit dem antriebsseitigen Kupplungsmagneten gekoppelt wird, sowie der Lagermagnetring gegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten drehfest angeordnet wird, wobei zumindest ein Lagermagnet-Teilbereich des Lagermagnetrings eine gleiche Polarität aufweist, wie ein dem Lagermagnet-Teilbereich gegenüberliegender Kupplungsmagneten-Teilbereich, um ein Magnetkuppelelement mit magnetischer Lagerungsfunktion herzustellen.In a step 403, the drive-side clutch magnet arranged on a drive shaft, the output-side clutch magnet arranged on an output shaft, and the bearing magnet ring are provided. Finally, in a step 406, the drive-side clutch magnet arranged on a drive shaft, the output-side clutch magnet arranged on an output shaft, and the bearing magnet ring are mounted such that the output-side clutch magnet is magnetically coupled to the drive-side clutch magnet, and the bearing magnet ring is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet, wherein at least one bearing magnet portion of the bearing magnet ring has the same polarity as a clutch magnet portion opposite the bearing magnet portion, in order to produce a magnetic coupling element with a magnetic bearing function.
Die Vorrichtung 500 umfasst eine Bereitstelleinrichtung 503 und eine Montiereinrichtung 506. Die Bereitstelleinrichtung ist hierbei ausgebildet ein Herstellsignal 509 an die Montiereinrichtung 506 bereitzustellen, um der Montiereinrichtung das Signal zur Montage der einzelnen Bauelemente des Magnetkuppelelements zu geben. Die Bereitstelleinrichtung 503 ist ferner ausgebildet, um den an einer Antriebswelle angeordneten antriebsseitigen Kupplungsmagnet, weiterhin den an einer Abtriebswelle angeordneten abtriebsseitigen Kupplungsmagneten und schließlich den Lagermagnetring bereitzustellen. Die Montiereinrichtung 506 ist ausgebildet, um das Herstellsignal 509 zu empfangen, um den an der Antriebswelle angeordneten antriebsseitigen Kupplungsmagneten, ferner den an der Abtriebswelle angeordneten abtriebsseitigen Kupplungsmagneten und schließlich den Lagermagnetring derart zu montieren, dass der abtriebseitge Kupplungsmagnet magnetisch mit dem antriebsseitigen Kupplungsmagneten gekoppelt wird und der Lagermagnetringgegenüber dem antriebsseitigen oder abtriebsseitigen Kupplungsmagneten drehfest angeordnet wird, wobei zumindest ein Lagermagnet-Teilbereich des Lagermagnetrings eine gleiche Polarität aufweist, wie ein dem Lagermagnet-Teilbereich gegenüberliegender Kupplungsmagneten-Teilbereich, um ein Magnetkuppelelement mit magnetischer Lagerungsfunktion herzustellen.The device 500 comprises a supply device 503 and an assembly device 506. The supply device is configured to provide a manufacturing signal 509 to the assembly device 506 in order to give the assembly device the signal to assemble the individual components of the magnetic coupling element. The supply device 503 is further configured to provide the drive-side clutch magnet arranged on a drive shaft, the output-side clutch magnet arranged on an output shaft, and finally the bearing magnet ring. The assembly device 506 is designed to receive the manufacturing signal 509 in order to assemble the drive-side clutch magnet arranged on the drive shaft, furthermore the output-side clutch magnet arranged on the output shaft and finally the bearing magnet ring in such a way that the output-side clutch magnet is magnetically coupled to the drive-side clutch magnet and the bearing magnet ring is arranged in a rotationally fixed manner relative to the drive-side or output-side clutch magnet, wherein at least one bearing magnet portion of the bearing magnet ring has the same polarity, such as a coupling magnet section opposite the bearing magnet section to produce a magnetic coupling element with a magnetic bearing function.
Umfasst ein Ausführungsbeispiel eine „und/oder“-Verknüpfung zwischen einem ersten Merkmal und einem zweiten Merkmal, so ist dies so zu lesen, dass das Ausführungsbeispiel gemäß einer Ausführungsform sowohl das erste Merkmal als auch das zweite Merkmal und gemäß einer weiteren Ausführungsform entweder nur das erste Merkmal oder nur das zweite Merkmal aufweist.If an embodiment comprises an “and/or” link between a first feature and a second feature, this is to be read as meaning that the embodiment according to one embodiment has both the first feature and the second feature and according to another embodiment has either only the first feature or only the second feature.
Claims (13)
Priority Applications (4)
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| PCT/EP2019/051355 WO2019145253A1 (en) | 2018-01-24 | 2019-01-21 | Magnetic coupling element with a magnetic bearing function |
| US16/963,783 US11368081B2 (en) | 2018-01-24 | 2019-01-21 | Magnetic coupling element with a magnetic bearing function |
| US17/805,542 US11804767B2 (en) | 2018-01-24 | 2022-06-06 | Magnetic coupling element with a magnetic bearing function |
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| DE102018201030.7A DE102018201030B4 (en) | 2018-01-24 | 2018-01-24 | Magnetic dome element with magnetic bearing function |
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| DE102018201030A1 DE102018201030A1 (en) | 2019-07-25 |
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2018
- 2018-01-24 DE DE102018201030.7A patent/DE102018201030B4/en active Active
-
2019
- 2019-01-21 US US16/963,783 patent/US11368081B2/en active Active
- 2019-01-21 WO PCT/EP2019/051355 patent/WO2019145253A1/en not_active Ceased
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2022
- 2022-06-06 US US17/805,542 patent/US11804767B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| US20200350812A1 (en) | 2020-11-05 |
| WO2019145253A1 (en) | 2019-08-01 |
| US20220407403A1 (en) | 2022-12-22 |
| US11368081B2 (en) | 2022-06-21 |
| DE102018201030A1 (en) | 2019-07-25 |
| US11804767B2 (en) | 2023-10-31 |
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